Method and apparatus for operating at least one camera from a position estimate of a container to estimate its container code

ABSTRACT

Methods and apparatus are disclosed that operate at least one camera configured to mount on a container handler by creating a position estimate of a container being handled by the container handler and controlling the camera with a directive in response to the position estimate, to generate a container image to estimate a container code of a container that is used to move cargo typically through container terminals.

CROSS REFERENCE TO RELATED APPLICATIONS

This patent application claims the benefit of Provisional PatentApplication No. 60/983,888 filed Oct. 30, 2007, which is incorporatedherein by reference.

TECHNICAL FIELD

This invention relates to operating at least one camera to create animage of a container by an apparatus on a container handler for use inestimating the container's code.

BACKGROUND OF THE INVENTION

Optical characteristic systems have been in use for several years incontainer shipping and storage yards, but have had some problems. Thecameras have tended to be rigidly mounted to the container handlers andunresponsive to the actual position of the containers with respect tothe cameras, which leads to the cameras being operated far more oftenthan if the container's position was known and used. Methods andapparatus are needed to address this issue and take advantage of theopportunity that solving these problems provides.

SUMMARY OF THE INVENTION

At least one camera is configured to mount on a container handler, thecamera is operated so that the camera is active only when a containerbeing handled is in range to create the container images. Further, thecamera may be operated so that the container can actively be found forimage capture. A position estimate of the container is created and thecamera controlled with at least one directive in response to theposition estimate to create at least one container image used to createan estimate of the container code of the container.

The apparatus embodying the invention may include a first modulegenerating the position estimate received by a second module to createdirectives for controlling the cameras. The first module may at leastpartly provide the means for creating the position estimate and thesecond module may at least partly provide the means for controlling atleast one camera with at least one directive in response to the positionestimate. The first module may further receive an estimate of thecontainer size of the container further affecting the directives.

The first module may communicate with a handler interface to receive atleast one of the following from sensors on or in the container handler:a sensed container presence, a sensed stack height, a container sizeestimate, a twistlock sensed state, a spreader sensed state, a sensedlanding state, and/or a sensed hoist height.

The camera may be stationary or capable of directed movement. The cameramay be operated by any combination of: initiating image capture,adjusting the focal length, altering the shutter speed, pivoting in oneor two angular degrees of freedom, and/or positioning on a track. Atleast two cameras may preferably be operated with separate directives.

The second module may use at least one camera and lighting modulecontaining the camera and a light source, possibly with light enablingand/or flash controls.

The optical characteristic system may or may not include the firstmodule and/or the second module. The optical characteristic system maybe configured to mount on the container handler, or be at a distancewith a wireless transceiver employed to deliver the container imagesfrom the container handler to the optical characteristic system.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an example of the apparatus and method operating at leastone camera by creating a position estimate of a container being handledby a container handler and controlling the camera with a directive inresponse to the position estimate to create a container image used by anoptical characteristic system to create an estimate of the container'scode for further use by a container management system.

FIG. 2 shows some possible details of the position estimate of FIG. 1.

FIG. 3 shows some possible details of the directive for the camera ofFIG. 1.

FIG. 4 shows a refinement of some aspects of FIG. 1 showing a secondcamera and a wireless transceiver for sending at least the containerimage to the optical characteristic system.

FIG. 5 shows a handler interface communicating with sensors on or in thecontainer handler to aid in creating the position estimate by the firstmodule of FIGS. 1 and 4.

FIGS. 6A and 6B show examples of the container of FIG. 1 and itscontainer code.

FIG. 6C shows an example of a container code estimate of FIG. 6B'scontainer code.

FIG. 7 shows an example of a stack of containers and a sensed stackheight.

FIGS. 8A to 8D show examples of the use of the directives for thecamera.

FIG. 9 shows an example of a camera and lighting module for use in orwith the second module of FIGS. 1 and 4.

FIGS. 10A and 10B show the directive of the camera to position it on atrack.

FIG. 11 shows various combinations of the first module and secondmodule, possibly included in the optical characteristic system of FIGS.1 and 4, possibly including at least one instance of at least one of aneural network, an inferential engine, a finite state machine and/or acomputer instructed by a program system in a computer readable memory.

FIG. 12 shows a flowchart of the program system of FIG. 11 including twoprogram steps, that may themselves be distinct program systems residingin separate computer readable memories in some embodiments of theinvention.

FIG. 13 shows various combinations of the first module, second moduleand/or the optical characteristic system including the handler interfaceof FIG. 5 and/or including an interface to two instances of the cameraand lighting module of FIG. 9 and/or including an enhanced containerimage.

FIG. 14 to 16 show flowcharts of some details of the first programsystem or program step of FIG. 12, creating the position estimate.

FIG. 17 shows a flowchart of some details of the second program systemor program step of FIG. 12, controlling the camera with a directive inresponse to the position estimate.

And FIG. 18 shows a refinement of the program system of FIG. 12 toinclude using the enhanced container image of FIG. 13 to create thecontainer code estimate.

DETAILED DESCRIPTION

This invention relates to operating at least one camera to create animage of a container by an apparatus on a container handler for use inestimating the container's code. Rather than over using at least onecamera configured to mount on a container handler, the camera isoperated so that the camera is active only when a container beinghandled is in focal range of the camera lens to create the containerimages. Further, the camera may be operated so that the container canactively be found by the camera for image capture. A position estimateof the container is created and the camera controlled with at least onedirective in response to the position estimate to create at least onecontainer image used to create an estimate of the container code of thecontainer.

Referring to the drawings more particularly by reference numbers, FIG. 1shows the operation of at least one camera 40 configured to mount on acontainer handler 2 by creating a position estimate 20 of the position14 of a container 10 being handled by the container handler andcontrolling the camera with at least one directive 50 in response to theposition estimate to create at least one container image 42. Thecontainer image is used to create a container code estimate 70 of thecontainer code 12 of the container. The container code estimate may begenerated by an optical characteristic system 60 and sent to a containermanagement system 6 for a container facility, such as a terminalshipyard, a railway terminal, a container storage facility and/or afactory. The container position indicated by position estimate 20 may bebased upon a position reference 18 that may or may not coincide with thelocation the camera.

The apparatus embodying the invention may include a first module 100generating the position estimate 20 used by a second module 200 tocreate the directive 50 used by the camera 40. The first module may atleast partly provide the means for creating the position estimate andthe second module may at least partly provide the means for controllingat least one camera with at least one directive in response to theposition estimate. The apparatus may further include at least one lightsource 4.

Note that in certain embodiments of the invention, the container images42 may sometimes be unreadable by the optical characteristic system 60,whether or not mounted on the container handler 2. These containerimages may be sent to a second optical characteristic system that mayuse a human operator to determine the container code estimate 70 for theContainer Management System 6.

FIG. 2 shows the position estimate 20 of FIG. 1 may include at least oneof the following: a first angular estimate 22, a second angular estimate24, a distance estimate 26, a height estimate 28, an X-axis estimate 30,a Y-axis estimate 32, a Z-axis estimate 34, and/or at least one fixedlocation estimates 36.

FIG. 3 shows some details of the directive 50 used to control one ormore of the cameras 40 of FIG. 1, and may include at least one of thefollowing: an image capture directive 51, a focal length 52, a shutterseed 53, a track position 54, a first angular directive 56, and/or asecond angular directive 58.

The first module 100 may further receive an estimate of the containersize 16 of the container 10, as shown in FIG. 1. By way of example, thecontainer size may be a member of (but is not limited to) the containersize group consisting of ten feet, twenty feet, twenty four feet, thirtythree feet, forty five feet and fifty three feet.

The container handler 2 may include one or more of the following: adrayman truck, a UTR type truck, a bomb cart, a wheeled over the roadchassis, a chassis rotator, a quay crane, a side picker, a top loader, astraddle carrier, a reach stacker and a Rubber Tire Gantry (RTG) crane.The invention includes specific embodiments suited for individualcontainer handler collection, which will be discussed later. As usedherein a drayman truck may be used to haul containers on chassis overopen roads whereas a UTR type truck is restricted to operate in acontainer terminal such as a shipyard or rail yard.

Some embodiments of the invention send the container image 42 to theoptical characteristic system 60 to create the container code estimate70 as shown in FIGS. 1 and 4. The optical characteristic system may beconfigured to mount on the container handler 2, or be at a distance witha wireless transceiver 90 employed to deliver 92 the container imagesfrom the container handler to the optical characteristic system. Theoptical characteristic system may include the first module 100 and/orthe second module 200 as shown in FIGS. 11 and 13.

FIG. 5 shows the first module 100 may communicate with a handlerinterface 140 to receive at least one of the following from thecontainer handler 2:

-   -   a presence sensor 102 may create a sensed container present 104,        the sensed container present may be a form of “Yes” or “No”, or        may further at least partly delineate the container size 16,        and/or the landed sensed state 124 or twistlock sensed state 116        to determine container presence. Note that the sensed container        present may further delineate presence of one or both of dual        twenty foot containers in certain embodiments;    -   a stack height sensor 106 may create a sensed stack height 108,        the sensed stack height is shown in FIG. 7;    -   a size sensor 110 may create a container size estimate 112        and/or a spreader sensor 118 may create a spreader sensed state        120, the container sensed size and/or the spreader sensed state        may indicate the container size 16 of FIGS. 1 and 4;    -   a twistlock sensor 114 may create a twistlock sensed state 116,        the twistlock sensed state may be a form of “Yes” or “No”        indicating whether the twistlock is engaged with the container        10 or not;    -   a landing sensor 122 may create a sensed landing state 124, the        landing state may be a form of “Yes” or “No”;    -   a hoist sensor 126 may create a sensed hoist height 128, the        sensed hoist height is shown in FIG. 4; and/or    -   a weight sensor 130 may create a sensed container weight 132.        Note that in some embodiments of the invention, the weight        sensor may include a strain gauge and the sensed container        weight may be measured in terms of a strain reading from the        strain gauge.

FIGS. 6A and 6B show two examples of containers 10 and their containercodes 12, the first written vertically and the second writtenhorizontally. FIG. 6C shows a container code estimate 70 of a containercode. Note that the container code estimate of FIG. 6C does notcompletely agree with the container code of FIG. 6B. Enhancing thecontainer image 42 to create an enhanced container image 76 shown inFIG. 13 can reduce these discrepancies. This will be discussed withregards FIGS. 13, 17 and 18 hereafter.

FIG. 7 shows an example of a stack of containers 10 and the sensed stackheight 108. In some environments, containers may be stacked higher thanfour containers, and as shown in this Figure, may typically be stackedup to seven containers high. Typically, containers range between eightand ten feet in height and usually between eight and a half feet andnine and a half feet in height.

FIGS. 8A to 8D show some examples of the directives 50 used to operatethe camera 40. The camera may be operated by any combination of thefollowing: a fixed camera for forty foot containers and a fixed camerafor twenty foot containers, pivoting the camera in a first angulardegree of freedom 202 by a first angular directive 56, pivoting thecamera in a second angular degree of freedom 204 by a second angulardirective 58, adjusting the focal length 206 to 208 of the camera.

FIG. 9 shows a camera and lighting module 230 that may be included inthe second module 200. The camera and lighting module includes a camera40 and a light source 4. The camera may be operating based upon one ormore of the following:

-   -   a first angular directive 52 stimulating a first pivot control        212 to pivot the camera in the first angular degree of freedom        202 as shown in FIGS. 8A to 8C;    -   a second angular directive 54 stimulating a second pivot control        214 to pivot the camera in the second angular degree of freedom        204;    -   a focal length 56 stimulating the focal length control 216 to        alter the camera's focal length as shown in FIGS. 8A and 8D;    -   a shutter speed 59 stimulating a shutter speed control 218; and    -   an image capture directive 57 stimulating an image capture        control 210.

The directives 50 may also enable a lighting directive 55 forstimulating a lighting control 220 trigger the light source either tostrobe or to be steadily turned on. The light source may include floodlights, infra-red sources, arrays of Light Emitting Diodes (LEDs) and/orXenon light sources.

The camera 40 may be positioned on a track 230 in response to the trackposition 54 at a first track position 234 as shown in FIG. 10A. FIG. 10Bshows the camera on the track at a second track position 236. The trackmay include one rail as shown in FIG. 10B or more than one rail as shownin FIG. 10A.

FIG. 11 shows an optical characteristic system 60 for mounting on acontainer handler as previously shown and including the first module 100and/or the second module 200. The optical characteristic system and/orthe first module and/or the second module may include at least oneinstance of a neural network 70 and/or an inferential engine 72 and/or afinite state machine 74 and/or a computer 80 accessibly coupled 84 to acomputer readable memory 82 and instructed by a program system 300including program steps residing in the memory.

While there are numerous implementations of the optical characteristicsystem 60, the first module 100, and the second module 200, the Figuresand discussion will focus on discussion the implementation of theinvention's embodiments and methods in terms of discussing just onecomputer 80, and unless otherwise useful will refrain from going beyondsummarizing salient details in the interests of clarifying thisdisclosure. However this effort to clarify the invention is not meant tolimit the scope of the claims.

As used herein, a neural network 70 maintains a collection of neuronsand a collection of synaptic connections between the neurons. Neuralnetworks are stimulated at their neurons leading through their synapticconnections to the firing of other neurons. Examples of neural networksinclude but are not limited to aromatic chemical compound detectors usedto detect the presence of bombs and drugs.

As used herein, an inferential engine 72 maintains a collection ofinference rules and a fact database and responds to queries andassertions by invoking rules and accessing the fact database. Examplesof inferential engines include fuzzy logic controllers and constraintbased decision engines used to determine paths through networks basedupon the network constraints, such as the current location of parked andmoving vehicles and available storage locations for containers.

As used herein, a finite state machine 74 receives at least one input,maintains and updates at least one state and generates at least oneoutput based upon the value of at least one of the inputs and/or thevalue of at least one of the states.

As used herein, a computer 80 includes at least one data processor andat least one instruction processor instructed by the program system 300,where each of the data processors is instructed by at least one of theinstruction processors.

Some of the following figures show flowcharts of at least one embodimentof at least one of the methods of the invention, which may includearrows signifying a flow of control, and sometimes data, supportingvarious implementations.

The boxes denote steps or program steps of at least one of theinvention's methods and may further denote at least one dominantresponse in a neural network 70, and/or at least one state transition ofthe finite state machine 74, and/or at least one inferential link in theinferential engine 72, and/or a program step, or operation, or programthread, executing upon the computer 80.

Each of these steps may at least partly support the operation to beperformed as part of a means for an operation or use. Other circuitrysuch as network interfaces, radio transmitters, radio receivers,specialized encoders and/or decoders, sensors, memory management and soon may also be involved in performing the operation further providingthe means for the operation.

The operation of starting in a flowchart is denoted by a rounded boxwith the word “Start” in it and may refer to at least one of thefollowing: entering a subroutine or a macro instruction sequence in thecomputer 80, and/or of directing a state transition of the finite statemachine 74, possibly pushing of a return state, and/or entering a deepernode of the inferential engine 72 and/or stimulating a list of neuronsin the neural network 70.

The operation of termination in a flowchart is denoted by a rounded boxwith the word “Exit” in it and may refer to completion of thoseoperations, which may result in at least one of the following: a returnto dormancy of the firing of the neurons in the neural network 70,and/or traversal to a higher node in the inferential graph 72 of thefact database and/or the rules collection, and/or possibly return to apreviously pushed state in the finite state machine 74, and/or in asubroutine return in the computer 80.

FIG. 12 shows a flowchart of the program system 300 of FIG. 11,including at least one of the following:

-   -   program step 150 creates the position estimate 20 of the        container 10, which may implement a first program system        instructing a first computer in the first module 100; and    -   program step 250 controls at least one camera 40 with the        directive 50 in response to the position estimate, which may        implement a second program system instructing a second computer        in the second module 200.

FIG. 13 shows a refinement of various embodiments shown in FIG. 12,where the computer 80 is first communicatively coupled 142 to thehandler interface 140, which may be preferred for the first module 100whether or not included in the optical characteristic system 60. Also,the computer is second communicatively coupled 234, possibly through acamera interface 232 to a first and second camera and lighting modules,which may be preferred for the second module 200 whether or not includedin the optical characteristic system. The computer is thirdcommunicatively coupled 94 to the wireless transceiver 90, which may bepreferred for the second module, again whether or not included in theoptical characteristic system.

At least one of the first 142, second 234 and third 94 communicativecouplings may include a wireline communications protocol, which mayfurther includes at least one of the following: a Synchronous SerialInterface protocol, an Ethernet protocol, a Serial Peripheral Interfaceprotocol, an RS-232 protocol, and Inter-IC protocol (sometimesabbreviated as I2C), a Universal Serial Bus (USB) protocol, a ControllerArea Network (CAN) protocol, a firewire protocol, which may includeimplementations of a version of the IEEE 1394 protocol, an RS-485protocol and/or an RS-422 protocol.

The wireless transceiver 90 may include a radio frequency tag terminaland/or a radio frequency transmitter and receiver compliant with atleast one wireless signaling convention that may implement at least oneof a Time Division Multiple Access (TDMA) scheme, a Frequency DivisionMultiple Access (FDMA) scheme, and/or a spread spectrum scheme, such as:

-   -   examples of the TDMA scheme may include the GSM access scheme;    -   examples of the FDMA scheme may include the AMPs scheme;    -   the spread spectrum scheme may use at least one of a Code        Division Multiple Access (CDMA) scheme, a Frequency Hopping        Multiple Access (FHMA) scheme, a Time Hopping Multiple Access        (THMA) scheme and an Orthogonal Frequency Division Multiple        Access (OFDM) scheme;    -   examples of the CDMA scheme may include, but are not limited to,        an IS-95 access scheme and/or a Wideband CDMA (W-CDMA) access        scheme;    -   examples of the OFDM scheme may include, but are not limited to,        a version of the IEEE 802.11 access scheme; and    -   another example of a spread spectrum scheme is the ANSI 371.1        scheme for radio frequency identification and/or location tags.

In certain embodiments, the first module 100 may use two positionreferences 18 as shown in FIG. 1, one near the first camera and lightingmodule 230 and the second near the second camera and lighting module,calculating two position estimates to readily generate components totheir directives 50, such as the first angular estimate 52 to be used asthe first angular directive 56, and so on.

In various embodiments of the invention, the computer readable memory 82may further include various combinations of some or all of thefollowing: the position estimate 20, the container image 42, the secondcontainer image 46, a directive 50 preferably for the first camera andlighting module 230, a second directive preferably for the second cameraand lighting module, an enhanced container image 76, and/or thecontainer code estimate 72. The first and second container images may becreated by the first camera and light module, and may be used to createthe enhanced container image.

FIG. 14 shows some details of the first program system as the programstep 150 of FIG. 12, and may include at least one of the followingprogram steps:

-   -   program step 152 senses the presence of the container 10 to        create the sensed container presence 104, possibly through the        handler interface 140 communicating with a presence sensor 102        on or in the container handler 2 as shown in FIG. 5;    -   program step 154 senses the stack height of the container to        create the sensed stack height 108, possibly through the handler        interface communicating with the stack height sensor 106 or the        sensed hoist height 128;    -   program step 156 senses the size of the container to create the        container size estimate 112, possibly through the handler        interface communicating with the size sensor 110;    -   program step 158 senses the twistlock state of the twistlock        controlled by the container handler to create the twistlock        sensed state 116, possibly through the handler interface        communicating with the twistlock sensor 114. The twistlock state        and its sensed state may preferably take values indicating        “twistlock on” and “twistlock off”;    -   program step 160 senses the spreader state of the spreader        controlled by the container handler to create the spreader        sensed state 120, possibly through the handler interface        communicating with the spreader sensor 118. The spreader state        and the spreader sensed state may indicate the container size 16        of FIGS. 1 and 4;    -   program step 162 senses the landing state of the spreader on a        container to create the sensed landing state 124, possibly        through the handler interface communicating with the landing        sensor 122. The landing state and sensed landing state may        indicate “landed” and “not landed” in some form possibly further        indicating if a spreader is “landed” on top of a container such        that the twistlocks may be activated;    -   program step 164 senses the height of the hoist controlled by        the container handler to create the sensed hoist height 128,        possibly through the handler interface communicating with the        hoist sensor 126; and/or    -   program step 165 senses the weight of the container to create        the sensed container weight 132. Note that in some embodiments        of the invention, a strain gauge may be used and the sensed        container weight may be measured in terms of a strain reading        from the strain gauge. Note that in some embodiments the hoist        height and the stack height may be considered essentially the        same. As used herein, the stack height refers to the number of        containers (typically an assortment of 8.5 feet and 9.5 feet        boxes) in a stack, whereas the hoist height refers to the actual        distance from the hoist to the ground. In many situations, the        stack height may be determined from hoist height 128.

FIG. 15 further shows some details of the first program system as theprogram step 150, and may further include program step 166 to create theposition estimate 20 based upon at least one of the following: thesensed container presence 104, the sensed stack height 108, thecontainer size estimate 112, the twistlock sensed state 116, thespreader sensed state 120, the sensed landing state 124, the sensedhoist height 128, and/or sensed container weight 132. Various individualand combinations of these sensed states may be used for instance todetermine a fixed location, such as landing on the bed of the bomb cart84.

FIG. 16 shows a further refinement of the first program step as theprogram step 150, and may include at least one of the following programsteps:

-   -   program step 168 calculates the first angular estimate 22 based        upon the X-axis estimate 30, the Y-axis estimate 32, and/or the        Z-axis estimate 34;    -   program step 170 calculates the second angular estimate 24 based        upon the X-axis estimate, the Y-axis estimate, and/or the Z-axis        estimate;    -   program step 172 calculates the distance estimate 26 based upon        the X-axis estimate, the Y-axis estimate, and/or the Z-axis        estimate;    -   program step 174 calculates the focal length 52 based upon the        distance estimate;    -   program step 176 uses the fixed location estimate 36 to        determine at least one of the X-axis estimate, the Y-axis        estimate, the Z-axis estimate, the first angular estimate, the        second angular estimate, the distance estimate, and/or the focal        length;

FIG. 17 shows some details of the second program system as the programstep 250, and may include at least one of the following program steps:

-   -   program step 252 initiates the image capture 57 of the container        image 40, possibly by using the image capture control 210; this        program step may be used with fixed position cameras as well as        cameras that may be positioned on a track or pivoted;    -   program step 254 adjusts the camera based upon the focal length        52 as shown in FIGS. 8A and 8D and possibly using the focal        length control 216;    -   program step 256 fixes the shutter seed 53, possibly by using a        shutter speed control 218;    -   program step 258 powers at least one light source 4 based upon a        lighting enable 55, possibly by using a lighting control 220;    -   program step 260 pivots the camera 40 in a first angular degree        of freedom 202 by a first angular directive 56 as shown in FIGS.        8A to 8C. The step may be implemented using the first pivot        control 212 as shown in FIG. 9;    -   program step 262 pivots the camera in a second angular degree of        freedom 204 by a second angular directive 58, possibly using the        second pivot control 214;    -   program step 264 moves the camera on the track 230 of FIGS. 11A        and 11B to a track position 54, possibly by using a track        position control 232;    -   program step 266 uses at least two container images, for example        40 and 46 as shown in FIGS. 4 and 13, to create an enhanced        container image 76. By way of example, the two images may be        used to remove motion induced blurring or noise in the enhanced        image, or to increase contrast about the characters of the        container code 12 as shown in FIGS. 6A and 6B, or to refine        and/or infer the edges of the characters.    -   Note that in some embodiments of the invention, the container        images 42 may be compressed, possibly by the container handler        2, the first module 100, the second module 200, the optical        characteristic system 60 and/or the container management system        6. Any or all of these apparatus components may store the        container images as is or in a compressed format.

FIG. 18 shows some further details of the program system 300 of FIG. 12,including the program step 302 that uses the enhanced container image 76to create the container code estimate 70.

The handler interface 140 may vary for different container handlers 2.For example when the container handler is a quay crane or an RTG crane,the container handler may include a Programmable Logic Controller (PLC)Interface coupled via a wireline protocol to position estimate 20 to getcrane spreader interface status and position, and may further, possiblyseparately couple sensors to a crane hoist and trolley drum forestimates of the spreader vertical and horizontal position relative todock and/or a sensor for determining the hoist and trolley position, forinstance by using a tachometer signal from the trolley and hoist motors,proximity switches, optical encoders, or a laser beam. Also, the handlerinterface may include a wireline network interface to at least one ofthe sensors of the container handler. Any of these interface approachesmay provide sensor reading of a hoist or trolley position. As usedherein, a wireline network interface may implement an interface to atleast one of the wireline communications protocols mentioned previously.Additional sensors of the RTG and Quay Crane may require the sensing ofthe hoist position (the vertical height) by coupling to the hoist drumwith a tachometer sensor, proximity, or optical sensors, and/or digitalencoders.

Another example, when the container handler 2 is a side picker, a toploader (also referred to as a top handler), a straddle carrier or areach stacker, the handler interface 140 may include a wireline networkinterface to at least one of the sensors of the container handler. Othersensors may be accessible to the handler interface through separatewireline network interfaces and/or wireline network couplings.

A third example, when the container handler 2 is a UTR type truck or abomb cart, the handler interface 140 may include a wireline networkinterface to at least one, and possibly all the accessed sensors of thecontainer handler. Alternatively, more than one wireline networkinterfaces and/or wireline network couplings may be used.

The handler interface 140 may further receive any or all of thefollowing information that may be forwarded to the container managementsystem 6: the location of the container 10, a sensed operator identityof the operator operating the container handler 2, a container radiofrequency tag, a container weight, a container damage estimate, anindication of the container handler moving in a reverse motion, afrequent stops count, a fuel level estimate, a compass reading, acollision state, a wind speed estimate, a vehicle speed, and an estimateof the state of a vehicle braking system. The location of the containermay be in terms of a three dimensional location and/or a stack or tierlocation.

The handler interface 140 may include a second radio transceiverproviding a radio frequency tag interface capable of locating thecontainer handler 2 and/or identifying the container 10 and/or itscontainer code 12.

The handler interface 140 may include a third radio transceiver using aGlobal Positioning System and/or a Differential Global Position Systemto determine the location of the container 2. In certain preferredembodiments, two transceivers may be employed, one for transmitting theoptical characteristics and container images, and the other formonitoring and controlling system's powering up and powering downprocesses.

The handler interface 140 may include an interface to a short rangeand/or low power sonar, radar, or laser that may provide a positionestimate 20 of the container 10. The radar may preferably be non-toxicfor humans and possibly livestock and other animals in or near thecontainers.

The preceding embodiments provide examples of the invention, and are notmeant to constrain the scope of the following claims.

1. An apparatus configured to operate at least one camera configured tomount on a container handler, comprising: said first module configuredto create a position estimate of a container handled by said containerhandler; and a second module configured to control said camera with atleast one directive in response to said position estimate to create acontainer image of said container, whereby said container image is usedto estimate a container code of said container.
 2. The apparatus ofclaim 1, wherein said position estimate includes at least one member ofthe collection comprising: a first angular estimate, a second angularestimate, a distance estimate, a height estimate, an X-axis estimate, aY-axis estimate, a Z-axis estimate, and a fixed location estimate. 3.The apparatus of claim 1, wherein said first module comprises a handlerinterface to at least one of: a presence sensor configured to respond tosaid container to create a sensed container present; a stack heightsensor configured to respond to a stack height of said container tocreate a sensed stack height; a size sensor configured to respond to asize of said container to create a container size estimate; a twistlocksensor configured to respond to a twistlock state of a twistlockcontrolled by said container handler to create a twistlock sensed state;a spreader sensor configured to respond to a spreader state of aspreader controlled by said container handler to create a spreadersensed state; a landing sensor configured to respond to a landing stateof said container to create a sensed landing state; a hoist sensorconfigured to respond to a height of a hoist controlled by saidcontainer handler to create a sensed hoist height; and wherein saidfirst module generates said position estimate based upon at least onemember of a position-related-estimate group consisting of: said sensedcontainer present, said sensed stack height, said container sizeestimate, said twistlock sensed state, said spreader sensed state, saidsensed landing state, and said sensed hoist height.
 4. The apparatus ofclaim 1, wherein said second module comprises at least one of: an imagecapture control configured to initiate image capture by said camera inresponse to an image capture directive; a focal length controlconfigured to adjust said camera in response to a focal length; ashutter speed control configured to alter said camera in response to ashutter speed; a first pivot control configured to pivot said camera ina first angular degree of freedom in response to a first angulardirective; a second pivot control configured to pivot said camera in asecond angular degree of freedom in response to a second angulardirective; and a track control configured to adjust a position of saidcamera on a track in response to a track position.
 5. The apparatus ofclaim 1, wherein at least one member of a module collection includes atleast one instance of at least one member of the group consisting of: aneural network, an inferential engine, a finite state machine, and acomputer accessibly coupled to a computer readable memory, said computerinstructed by a program system including at least one program stepresiding in said computer readable memory; wherein said modulecollection includes as members said first module and said second module.6. The apparatus of claim 5, wherein said program system includes atleast one the program steps of: creating said position estimate of saidcontainer handled by said container handler; and directing said at leastone camera to create said container image of said container in responseto said position estimate.
 7. The apparatus of claim 5, wherein theprogram step creating said position estimate comprises at least one ofthe program steps of: calculating a first angular estimate based upon anX-axis estimate, a Y-axis estimate, and a Z-axis estimate; calculating asecond angular estimate based upon said X-axis estimate, said Y-axisestimate, and said Z-axis estimate; calculating a distance estimatebased upon said X-axis estimate, said Y-axis estimate, and said Z-axisestimate; calculating a focal length based upon said distance estimate;and using a fixed location estimate to determine at least one of saidfirst angular estimate, said second angular estimate, said distanceestimate, and said focal length.
 8. The apparatus of claim 5, wherein atleast one member of a module collection is separate from said opticalcharacteristic apparatus, wherein said module collection includes asmembers said first module and said second module.
 9. The apparatus ofclaim 5, wherein at least one member of a module collection is includedin said optical characteristic apparatus, wherein said module collectionincludes as members said first module and said second module.
 10. Theapparatus of claim 1, wherein said container handler includes at leastone member of the group consisting of: a UTR type truck, a draymantruck, a bomb cart, an over the road chassis, a chassis rotator, a quaycrane, a side picker, a top loader, a straddle carrier, a reach stacker,and a rubber tire gantry crane.
 11. The apparatus of claim 1, whereinsaid container is a member of the group consisting of a ten footcontainer, a twenty foot container, a twenty four foot container, athirty three foot container, a forty foot container, a forty five footcontainer, a fifty three foot container, and dual twenty footcontainers.
 12. An apparatus configured to operate at least one cameraconfigured to mount on a container handler, comprising means forcreating a position estimate of a container handled by said containerhandler; and means for controlling at least one camera with at least onedirective in response to said position estimate to create a containerimage of said container, whereby said container image is used to createto estimate a container code of said container.
 13. The apparatus ofclaim 12, wherein the means for creating said position estimatecomprises at least one of: means for sensing a presence of saidcontainer to create a sensed container present; means for sensing astack height of said container to create a sensed stack height; meansfor sensing a size of said container to create a container sizeestimate; means for sensing a twistlock state of a twistlock controlledby said container handler to create a twistlock sensed state; means forsensing a spreader state of a spreader controlled by said containerhandler to create a spreader sensed state; means for sensing a landingstate of said container to create a sensed landing state; means forsensing a height of a hoist controlled by said container handler tocreate a sensed hoist height; and wherein the means for creating saidposition estimate further comprises: means for estimating said positionestimate based upon at least one member of a position-related-estimategroup consisting of: said sensed container present, said sensed stackheight, said container size estimate, said twistlock sensed state, saidspreader sensed state, said sensed landing state, and said sensed hoistheight.
 14. The apparatus of claim 12, wherein the means for directingsaid at least one camera comprises at least one of: means for adjustinga focal length of said camera based upon a distance estimate; means forfixing a shutter speed of said camera; means for moving said camera on atrack to a track position; means for pivoting said camera in a firstangular degree of freedom by a first angular estimate; and means forpivoting said camera in a second angular degree of freedom by a secondangular estimate.
 15. The apparatus of claim 12, wherein at least onemember of a means collection includes at least one instance of at leastone member of the group consisting of: a neural network, an inferentialengine, a finite state machine, and a computer accessibly coupled to acomputer readable memory, said computer instructed by a program systemincluding at least one program step residing in said computer readablememory; wherein said means collection includes as members said means forcreating and said means for directing.
 16. A method, comprising the stepof: operating at least one camera configured to mount on a containerhandler, comprising the steps of: creating a position estimate of acontainer being handled by said container handler; and controlling saidcamera with at least one directive in response to said position estimateto create a container image of said container, whereby said containerimage is used to estimate a container code of said container.
 17. Themethod of claim 16, wherein the step of creating said position estimatecomprises at least one of the steps of: sensing a presence of saidcontainer to create a sensed container present; sensing a stack heightof said container to create a sensed stack height; sensing a size ofsaid container to create a container size estimate; sensing a twistlockstate of a twistlock controlled by said container handler to create atwistlock sensed state; sensing a spreader state of a spreadercontrolled by said container handler to create a spreader sensed state;sensing a landing state of said container to create a sensed landingstate; and sensing a height of a hoist controlled by said containerhandler to create a sensed hoist height; and wherein the step ofcreating said position estimate further comprises the step of:estimating said position estimate based upon at least one member of agroup consisting of: said sensed container present, said sensed stackheight, said container size estimate, said twistlock sensed state, saidspreader sensed state, said sensed landing state, and said sensed hoistheight.
 18. The method of claim 16, wherein the step controlling said atleast one camera, comprises at least one of the steps of: adjusting afocal length of said camera; fixing a shutter speed of said camera;moving said camera on a track to a track position; pivoting said camerain a first angular degree of freedom by a first angular directive; andpivoting said camera in a second angular degree of freedom by a secondangular directive.
 19. The method of claim 16, further comprising thestep of: using an enhanced image to create said container code estimate,said enhanced image created by using at least two of said containerimages.
 20. The method of claim 16, wherein said container handlerincludes at least one member of the group consisting of: a Draymentruck, UTR type truck, a bomb cart, a chassis rotator, an over the roadchassis, a quay crane, a side picker, a top loader, a straddle carrier,a reach stacker, and a rubber tire gantry crane.
 21. A first programsystem of program steps residing in a computer readable memory, saidfirst program system comprising the program step of: creating a positionestimate of a container handled by a container handler for use indirecting at least one camera mounted on said container handler tocreate a container image used to estimate a container code of saidcontainer.
 22. A second program system of program steps residing in acomputer readable memory, said second program system comprising theprogram step of: controlling at least one camera with at least onedirective in response to a position estimate of a container beinghandled by a container handler to create a container image, whereby saidcamera is configured to mount on said container handler, said containerimage is used to estimate a container code of said container.